EP2854120A1 - Procédé et dispositif pour commander un dispositif haptique - Google Patents

Procédé et dispositif pour commander un dispositif haptique Download PDF

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Publication number
EP2854120A1
EP2854120A1 EP13306327.1A EP13306327A EP2854120A1 EP 2854120 A1 EP2854120 A1 EP 2854120A1 EP 13306327 A EP13306327 A EP 13306327A EP 2854120 A1 EP2854120 A1 EP 2854120A1
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EP
European Patent Office
Prior art keywords
force
displacement
user
feedback device
speed value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13306327.1A
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German (de)
English (en)
Inventor
Fabien DANIEAU
Julien Fleureau
Philippe Guillotel
Nicolas Mollet
Anatole Lecuyer
Marc Christie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thomson Licensing SAS
Institut National de Recherche en Informatique et en Automatique INRIA
Original Assignee
Thomson Licensing SAS
Institut National de Recherche en Informatique et en Automatique INRIA
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Publication date
Application filed by Thomson Licensing SAS, Institut National de Recherche en Informatique et en Automatique INRIA filed Critical Thomson Licensing SAS
Priority to EP13306327.1A priority Critical patent/EP2854120A1/fr
Priority to PCT/EP2014/070618 priority patent/WO2015044344A1/fr
Priority to KR1020167008076A priority patent/KR20160063335A/ko
Priority to CN201480052940.3A priority patent/CN105580063A/zh
Priority to BR112016006379A priority patent/BR112016006379A2/pt
Priority to JP2016516895A priority patent/JP2016534378A/ja
Priority to US15/025,268 priority patent/US9821236B2/en
Priority to EP14776655.4A priority patent/EP3050046B1/fr
Publication of EP2854120A1 publication Critical patent/EP2854120A1/fr
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/16—Amusement arrangements creating illusions of travel
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/28—Simulation of stick forces or the like

Definitions

  • the invention relates to the domain of haptics.
  • the invention is also understood in the context of haptic effect(s) of motion rendered by using one or more force-feedback devices.
  • the invention may for example be implemented in automobile or aircraft simulators, video games, theme park attractions, at home for the rendering of haptic effects while watching a movie, or in auditoriums, for example movie theatres.
  • Motion simulators are intensively used as driving or flight simulators for learning purposes or for enhancing video viewing experience with haptic effects of motion. Most of them are based on the Stewart's platform ( B. Dasgupta, "The Stewart platform manipulator: a review", Mechanism and Machine Theory, Vol. 35, Issue 1, pp. 15-40, Jan. 2000 ).
  • a motion simulator is basically a seat attached on this kind of platform that may be especially used to enhance audiovisual experience. With such motion simulators, the user's whole body is moved to generate various sensations such as accelerating, falling or passing over bumps.
  • Such motion simulators have an effect on the vestibular system organ of the user that is located in the inner ear and that is composed of three orthogonally oriented semi-circular canals and two otolith organs.
  • Semi-circular canals allow to detect rotational movements (angular accelerations) while otolith organs send information to the brain about linear accelerations.
  • a user is able to sense acceleration and rotation of his body and this way feels movement.
  • these motion simulators based on Stewart's platform remain expensive, which limits their usage.
  • the sensation of motion may also be induced by a force feedback device, as disclosed in WO2011 /032937 .
  • a force feedback device By applying a force on the user's hand, the system generates an illusion of motion with force feedback. While the interface is pulling the hand, the user feels moving forward.
  • a force feedback device addresses the kinaesthetic sense of a user. As force feedback devices have an effect on the kinaesthetic sense of a user and not on the vestibular system organ of the user, methods adapted to control the displacements of the Stewart's platform and the haptic effects associated with such displacements are not adapted to control the force feedback devices and associated haptic effects.
  • the purpose of the invention is to overcome at least one of these disadvantages of the prior art.
  • the purpose of the invention is to control the user's experience of motion and movements induced by the displacement(s) of force feedback device(s).
  • the invention relates to a method for controlling at least one force-feedback device associated with at least a part of the body of a user.
  • the method comprises the steps of:
  • the determining of the speed of the movement of the at least a part of the body is obtained from a biomechanical model of the at least a part of the body.
  • the threshold speed value is determined from biomechanical constraints associated with the at least a part of the body.
  • the displacement of the at least one force-feedback device is perceived by the user when the determined speed value is greater than or equal to the threshold speed value.
  • controlling of the at least one parameter comprises modifying said at least one parameter when the displacement of the at least one force-feedback device is perceived by the user.
  • the at least one parameter belongs to a group of parameter comprising:
  • the invention also relates to a device configured for controlling at least one force-feedback device associated with at least a part of the body of a user, the device comprising at least one processor configured for:
  • the at least one processor is configured for determining the speed of the movement of the at least a part of the body from a biomechanical model of the at least a part of the body.
  • the at least one processor is further configured for determining the threshold speed value from biomechanical constraints associated with the at least a part of the body.
  • the displacement of the at least one force-feedback device is perceived by the user when the determined speed value is greater than or equal to the threshold speed value.
  • the at least one processor is further configured for modifying the at least one parameter when the displacement of the at least one force-feedback device is perceived by the user.
  • the device comprises means for displaying an information representative of the possibility to perceive the displacement of the at least one force-feedback device by the user.
  • the invention also relates to a computer program product comprising instructions of program code for execution by at least one processor to perform the method for controlling at least one force-feedback device, when the program is executed on a computer.
  • Each force feedback device is advantageously associated with a part of the body (for example an arm, the head, a leg) of a user and the displacement of the force feedback device drags the associated part of the body into movement.
  • Parameter(s) representing the displacement of the force feedback device(s) is (are) used for determining the speed of the movement of the part of the body that is induced by the force feedback device associated with this part of the body. Comparing the speed value thus determined with a threshold speed value enables to determine whether the displacement of the part of the body is perceived by the user.
  • the parameter(s) representing the displacement of the force feedback device(s) is (are) controlled, for example to increase or decrease the speed of the movement(s) of the part(s) of the body induced by the displacement(s) of the force feedback device(s).
  • This enables advantageously to manage the experience of movement's effect experience of a user which may be useful as to increase the effect if it's too low or as to decrease the effect in a way that the effect is no more perceived by the user, for example for a washout filter.
  • Figure 1A shows a motion simulator 1, according to a particular and non-limitative embodiment of the invention and figure 1 B shows a user 11 sat down on the motion simulator 1 of figure 1 A .
  • the motion simulator comprises advantageously a chair 10 advantageously comprising a seat and a back.
  • the chair 10 only comprises a seat and no back.
  • Two hand force-feedback devices 102 and 103 are located on either sides of the chair 10. Hands of the user each lie on one of the hand force-feedback devices 102, 103.
  • the hand force-feedback devices 102 and 103 are positioned in such a way that the user 11 seizes them easily.
  • a third force-feedback device 101 is positioned at the level of the back of the head, i.e. in place of a headrest.
  • the force-feedback devices 101, 102 and 103 are advantageously positioned on a framework 105 configured in such a way that the force-feedback devices are positioned as to be in contact with specific parts of the body of the user, for example the hands and the head.
  • the position of each of the force-feedback device 101 to 103 is advantageously adjustable as to adapt to the size and the morphology of the user 11.
  • the framework 105 is for example adjustable, i.e.
  • the distance between the hand force-feedback devices 102 and 103 is for example adjustable and/or the distance between the seat of the chair 10 and the head force-feedback device is for example adjustable.
  • the user 11 has in each hand the knob of a force-feedback device 102, 103 and the head of the user 11 rests on the head force-feedback device 101.
  • the displacements of the force feedback devices 101 to 103 according to the axis X, Y and Z induce movements of the limbs and of the head of the user.
  • the displacements of the force-feedback devices are advantageously controlled via parameters representing for example the initial and final coordinates of the force-feedback device expressed in the orthonormal basis X, Y and Z (the initial coordinates corresponding to the initial position of the force-feedback device at the start of the displacement and the final coordinated corresponding to the final position of the force-feedback device at the end of the displacement) and also the start time and the end time of the displacement.
  • the parameters controlling the displacement(s) of the force-feedback device(s) comprise the initial and final coordinates with the speed and/or the acceleration of the displacement(s).
  • force-feedback devices is not limited to three but extends to any number greater than or equal to 1, any combination of the following list being possible:
  • Each force-feedback device 101 to 103 is advantageously configured for doing translation displacement/movement along each axis X, Y and Z and thus has three degrees of freedom.
  • the combination of the two force-feedback devices 102, 103 stimulating the user's hands and of the force-feedback device 101 stimulating the user's head, each force-feedback device 101 to 103 having 3 degrees of freedom, enables to simulate six degrees of freedom effects of motion.
  • the user 11 who is stimulated by these three force-feedback devices then feels various sensations such as accelerating, braking, falling for example.
  • the sensations of motion he/she is feeling are advantageously related to a visual content the user is watching at.
  • the user does not have direct contact with the force-feedback devices, or at least with some of the force-feedback devices.
  • the movements of the parts of the body of the user 11 induced by the force-feedback devices are transmitted from the force-feedback device to the limb/part of the body of the user through mobile elements of the framework 105, for example through armrest(s) or mobile plate.
  • the motion simulator does not comprise any chair but only one or more force-feedback devices positioned on the framework 105.
  • Figure 2 illustrates the control of a force-feedback device 101, 102 or 103 of the motion simulator 1, according to a particular and non-limitative embodiment of the invention.
  • a biomechanical model of the body of the user 11 is defined.
  • the biomechanical model may be for example a simplified biomechanical model of the body of the user as illustrated on figure 7 .
  • the biomechanical model 7 is represented by a torso.
  • Representation of the arms of the user consist in two segments 71 and 72 and two joints 701 and 702.
  • the segment 71 represents the forearm of the user and the segment 72 represents the upper part of the arm of the user.
  • the segment 71 is connected with the segment 72 via a joint 701 corresponding to the elbow of the user.
  • the segment 72 is connected with the torso 70 of the user via the joint 702, which corresponds to the elbow.
  • the neck is represented with one segment 74 and one joint 703 connecting the neck and the head 73 with the torso 70.
  • the dimensions of the segments, notably their length, and the angle limits of the rotations that the joints are capable of are defined with anatomical data (see for example "General Anatomy and Musculoskeletal System” by Schuenke M., Schulte E., Schumacher U., Ross L.M., Lamperti E.D. and Voll M.; Thieme Medical Publishers Inc, 2010 ).
  • the first step for controlling the force-feedback device is the command law for the force-feedback device.
  • the displacement of the force-feedback device for example the final position 22 of the force-feedback device at the end of the displacement, is computed from a command law model 201 and from motion data that comprises data representative of translational accelerations 20 and data representative of angular velocities 21, as described in " HapSeat: Producing Motion Sensation with Multiple Force-feedback Devices Embedded in a Seat” by Danieau et al., VRST'12, December 10-12, 2012, Toronto, Ontario, Canada .
  • the translational accelerations data 20 and angular velocities data 21 describe advantageously the general motion that is to be felt by the user sat on the motion simulator 1.
  • the general motion corresponds for example to a motion comprised in a sequence of a movie the user is watching at or to a motion of an avatar of the user in a video game the user is playing at.
  • the audiovisual content the user is watching at is advantageously augmented with the translational accelerations data 20 and angular velocities data 21, according to any method known by the skilled person in the art (the video camera shooting the audiovisual content is for example equipped with an inertial measurement unit configured for measuring the data 20 and 21). These data 20 and 21 are then extracted as to be inputted in the command law model 201.
  • parameters for example the end position of the force-feedback devices or the acceleration(s) of the force-feedback devices during the displacement(s) used for controlling the displacements of each one of the force-feedback devices 101 to 103 forming the motion simulator 1.
  • the speed of the movement done by the part of the body is calculated from the final position 22 of the force-feedback device inducing the movement of this specific part of the body, by using for example an inverse kinematics (IK) algorithm 202 (see for example "Inverse kinematics and geometric constraints for articulated figure manipulation" by Chris Welman, Simon Fraser University) and from the biomechanical model 7.
  • IK algorithm Given the parameters 22 representative of the displacement (e.g. the final position) of the force-feedback device and the biomechanical model of the part of the body associated with the force-feedback device, IK algorithm provides the angles of the joints impacted by the movement of the part of the body induced by the associated force-feedback device.
  • the part of the body associated with it is the arm of the user (modelled with the segments 71 and 72 of Figure 7 ) and the joints impacted by the movement of the arm are the elbow 701 and the shoulder 702.
  • IK algorithm examples include the CCD (Cyclic Coordinate Descent) algorithm and the Jacobian Transpose Method.
  • the CCD algorithm corresponds for instance to an iterative method which minimizes the distance between the end of the part of the body (also called end effector, for example the hand of the user in contact with the force-feedback device 103) associated with the force-feedback device and the final position of the force-feedback device by modifying the angle of each joint of the part of the body impacted by the movement.
  • the method starts by modifying the angle of the joint closest to the end effector (e.g. the elbow 701 in the abovementioned example) and then goes to the next farthest (e.g. the shoulder 702 in the abovementioned example) and so on.
  • the end effector e.g. the elbow 701 in the abovementioned example
  • the next farthest e.g. the shoulder 702 in the abovementioned example
  • the speed value of the movement of the part of the body is then compared with a threshold speed value as to determine whether the movement of the part of the body (and thus the displacement of the force-feedback device inducing the movement) is perceived by the user.
  • the threshold speed value is also called kinaesthetic perception threshold.
  • kinesthesia refers to the perception of limb movement and position, and is often broadly defined to include the perception of force as well. These sensory perceptions originate primarily from the activity of mechanoreceptors in muscles, which provides the central nervous system with information about the static length of muscles, the rate at which muscle length changes, and the forces muscles generate.
  • proximal joints of the human body are more sensitive than distal joints.
  • the detection threshold for an elbow is for example about 1°/s and it is less for a shoulder, i.e. for example about 0.5°/s.
  • the parameters controlling the displacement of the force-feedback device may be adapted by for example a haptic rendering adapter 203.
  • the comparison result shows that the displacement of the force-feedback will not be perceived by the user because the initial parameters of the force-feedback device are not adapted to that aim, then the parameters are modified in a way as to make the displacement perceived by the user.
  • the amplitude of the displacement may be increased or the acceleration of the translation(s) associated with the displacement is increased.
  • the parameters are adapted in a way as to make the displacement not perceived by the user.
  • the amplitude and/or the acceleration of the displacement may then be decreased.
  • the second and third steps are advantageously reiterated for each one of the force-feedback devices 101 to 103 forming the motion simulator 1.
  • Figures 3A to 3E show haptic effects induced by the displacement of for example one of the force feedback devices of the motion simulator 1, according to specific and non-limitative embodiments of the invention.
  • the examples of figures 3A to 3E corresponds to the position of a force-feedback associated with one part of the body of the user, for example the head. Abscissa axis represents the time in seconds (s) and ordinate axis represents the position of the force-feedback device expressed in meters (m).
  • Figure 3A illustrates the displacement of one force-feedback device along the X axis, according to a first example.
  • Two haptic effects 31 and 32 are illustrated.
  • the first effect 31 starts at time 0 and position 0.00 m and ends at time 12 s at position -0.05 m.
  • the second effect 32 starts at time 65 s and position 0.00 m and ends at time 78 s at position -0.05 m.
  • the force-feedback device returns directly to the "zero" position (i.e. 0.00 m) to be ready to render the next effect without washout, which means that the user feels when the force-feedback device returns to the rest position (i.e. 0.00 m).
  • This strong movement of the considered part of the body, the speed of which being greater than the kinaesthetic perception speed, is felt by the user and may be confusing regarding the user experience.
  • the second effect 32 is similar to the first effect 31, i.e. without washout.
  • Figure 3B illustrates the displacement of the force-feedback device along the X axis, according to a second example.
  • Two haptic effects 33 and 34 are illustrated.
  • the first effect 33 starts at time 0 s and position 0.00 m and ends at time 12 s at position -0.05 m.
  • the second effect 34 starts at time 65 s and position 0.00 m and ends at time 78 s at position -0.05 m.
  • a washout is performed between the end of the first effect 33 and the start of the second effect 34, which is illustrated by the outline 331. During the washout 331, the force-feedback device returns slowly and imperceptibly to the "zero" (or rest) position.
  • the speed of the force-feedback device is less than the kinaesthetic perception speed and the user thus does not feel the displacement of the force-feedback device during the two haptic effects 33 and 34.
  • the user experience is then better as the user only feels the two haptic effects 33 and 34 (which correspond for example to a motion in a movie the user is watching at or a motion of an avatar in a video game the user is playing at) without feeling the washout.
  • Figure 3C illustrates the displacement of the force-feedback device along the X axis, according to a second example.
  • Two haptic effects 35 and 36 are illustrated.
  • the first effect 35 starts at time 0 s at position 0.00 m and ends at time 12 s at position -0.05 m.
  • the second effect 36 starts at time 23 s at position 0.00 m and ends at time 35 s at position -0.05 m.
  • the force-feedback device returns quickly to the "zero" (or rest) position with a speed greater than the kinaesthetic perception speed.
  • Figure 3D illustrates the same first 35 and second 36 effects as on figure 3C .
  • the outline 371 starting at time 12 s (at the end of the first effect 35) illustrates a washout, i.e. a displacement of the force-feedback device at a speed less than the kinaesthetic perception speed.
  • the time difference between the end of the first effect 35 and the start of the second effect 36 is not long enough as to link the end of the first effect and the start of the second effect at a speed less than the kinaesthetic perception speed.
  • the force-feedback device At a speed just below the kinaesthetic perception speed and starting from the end of the first effect 35 (at position - 0.05 m and at time 12 s) the force-feedback device will reach only the position -0.035 m at time 23 s (corresponding to the start of the second effect 36), then forcing the force-feedback device to reach the "zero" (or rest) position with a strong displacement at a speed much greater than the kinaesthetic perception speed, this strong displacement being illustrated by the outline 372. Such a strong displacement 372 will then be felt by the user leading to an unwanted haptic effect, i.e. a bad user experience.
  • an optimization step may be performed to modify at least one of the two haptic effects 35 and 36.
  • One or several parameters, associated with the displacement of the force-feedback device, of the following list may be modified as to enable a washout between the first effect 35 and the second effect 36:
  • Figure 3E illustrates the case where the parameters associated with the displacement of the force-feedback device have been modified as to enable a washout filter between the first haptic effect 35 and the second haptic effect 36.
  • the starting position of the first effect 37 (which corresponds to the first effect 35 of Figures 3C and 3D ) is moved from 0.00 m (first effect 35) to 0.045 m.
  • the amplitude and the duration of the first effect 37 are the same as the amplitude and the duration of the first effect 35 of figures 3C and 3D .
  • the end position of the first effect is thus moved from -0.05 m (corresponding to the end position of the first effect 35) to -0.005 m, which is very close to the "zero" (or rest) position of the force-feedback device and very close from the starting position of the second effect 36, which is equal to 0.00 m.
  • a washout i.e. a displacement of the force-feedback device that will not be perceived by the user.
  • the starting position and the amplitude of the effect(s) may be modified; or the starting time of the first effect and the starting position of the first effect (and/or of the second effect); or the starting position and the duration of the effect; etc.
  • FIG. 4 illustrates a graphical user interface 4 (GUI) adapted to help in controlling the displacement of one or several force-feedback devices of the motion simulator 1, according to a particular and non-limitative embodiment of the invention.
  • the GUI comprises a first part 41 for displaying the image of a movie comprising cinematographic effects to be rendered in a haptic way as to enable a better immersion in the movie of a user watching at the movie; a second part 42 and a third part 43 for the graphical editing of the displacement(s) of the force-feedback device(s), the second part editing for example the translational component of the displacement(s) and the third part editing for example the rotational component of the displacement(s); and a fourth part 44 graphically representing the haptic effects and washout 441 to 447 associated with the image 41.
  • Haptic effects corresponding to cinematographic effects of the image 41 are the effects 441, 443, 445 and 447. Effects that will be felt by the user are advantageously visually identified on the GUI, for example by associating a first specific color or a first specific texture to these effects, and effects that will not be felt by the user are advantageously visually identified on the GUI, for example by associated a second specific color or a second specific texture different from the first color or from the first texture.
  • the person in charge of the control of the haptic effects is able to identify quickly if the parameters associated with the haptic effects are adapted or not for the rendering of the haptic effects. If not, the parameters may be modified and the person can automatically see the result of the parameters' modification.
  • Effects corresponding to washout are identified with the references 442, 444 and 446.
  • a first color or texture is associated with the washout 442, a second color or texture different from the first one is associated with the washout 444 and a third color or texture different from the first and second ones is associated with the washout 446.
  • the meanings of the first, second and third color or texture are the following:
  • the person controlling the washout is able to identify easily and quickly which washouts are well parameterized, which washouts have to be modified as not to be felt by the user and which washout are impossible.
  • Figure 5 diagrammatically illustrates a hardware embodiment of a device 5 configured for controlling the motion simulator 1, according to a particular and non-limitative embodiment of the invention.
  • the device 5 is also configured for the creation of display signals of one or several images, for example images representative of the Graphical User Interface 4.
  • the device 5 corresponds for example to a personal computer (PC), a laptop, a tablet, a Smartphone, a games console or a multimedia terminal.
  • the device 5 comprises the following elements, connected to each other by a bus 55 of addresses and data that also transports a clock signal:
  • the device 5 also comprises a display device 53 of display screen type directly connected to the graphics card 52 to display synthesized images calculated and composed in the graphics card, for example live.
  • a dedicated bus to connect the display device 53 to the graphics card 52 offers the advantage of having much greater data transmission bitrates and thus reducing the latency time for the displaying of images composed by the graphics card.
  • a display device is external to the device 5 and is connected to the device 5 by a cable or wirelessly for transmitting the display signals.
  • the device 5, for example the graphics card 52 comprises an interface for transmission or connection (not shown in figure 5 ) adapted to transmit a display signal to an external display means such as for example an LCD or plasma screen or a video-projector.
  • register used in the description of memories 521, 56, and 57 designates in each of the memories mentioned, both a memory zone of low capacity (some binary data) as well as a memory zone of large capacity (enabling a whole program to be stored or all or part of the data representative of data calculated or to be displayed).
  • the microprocessor 51 When switched-on, the microprocessor 51 loads and executes the instructions of the program contained in the RAM 57.
  • the random access memory 57 notably comprises:
  • the algorithms implementing the steps of the method specific to the invention and described hereafter are stored in the memory GRAM 521 of the graphics card 52 associated with the device 5 implementing these steps.
  • the parameters 572 representative of the body model and the parameters 573 representative of the GUI are loaded into the RAM 57
  • the graphic processors 520 of the graphics card 52 load these parameters into the GRAM 521 and execute the instructions of these algorithms in the form of microprograms of "shader" type using HLSL (High Level Shader Language) language or GLSL (OpenGL Shading Language) for example.
  • HLSL High Level Shader Language
  • GLSL OpenGL Shading Language
  • the random access memory GRAM 521 notably comprises:
  • the parameters 571 representative of the displacements and the parameters 572 representative of the body model are not loaded into the GRAM 521 and are processed by the CPU 51.
  • the parameters representative of haptic effects and/or washout filters and the information representative of the perception or non perception of a motion by the user are stored in the RAM 57 and not in the GRAM 521.
  • the power supply 58 is external to the device 5.
  • Figure 6 illustrates a method for controlling the motion simulator 1 implemented in the device 5, according to a non-restrictive advantageous embodiment of the invention.
  • the different parameters of the device 5 are updated.
  • the parameters representative of the displacements of the force-feedback devices and/or of the biomechanical model are initialised in any way.
  • the speed value of the movement of the part of the body stimulated by the force-feedback device inducing the movement is calculated.
  • the calculation is based on the parameter(s) used for controlling the displacement of the force-feedback device, for example the final position of the force-feedback device at the end of the displacement and/or the speed and the duration of the displacement and/or the acceleration(s) of the force-feedback device during the displacement, etc.
  • the speed value is advantageously determined by using an algorithm using a biomechanical model of the body of the user or of at least the part of the body undergoing the movement.
  • the biomechanical model corresponds to a simplified representation of the user's body with joints linking limbs or parts of the body, which enables to synthesize the movement of a limb or several interconnected limbs induced by the displacement of the force-feedback device by taking into account the biomechanical constraints and limits involves in the movement of the limbs and joints.
  • the speed value determined at step 61 is compared with a threshold speed value that corresponds to a kinaesthetic perception speed.
  • the threshold speed value is deduced from the biomechanical constraints of the human body, the threshold speed value depending from the part of the body that is impacted by the movement induced by the displacement of the force-feedback device.
  • only the joints comprises in the part of the body stimulated by the force-feedback device are taken into account for the comparison between the speed value and the threshold speed value.
  • the body members stimulated by the displacement of the force-feedback device are also taken into account in addition to the joints.
  • the result of the comparison enables to determine whether the movement of the part of the body is perceived by the user, which means to determine whether the displacement of the force-feedback device inducing the movement of the part of the body is perceived by the user. Indeed, if the speed value determined at step 61 is greater than or equal to the threshold speed value, then the displacement of the force-feedback device (and the associated movement of the part of the body) is perceived by the user as the speed value is greater than or equal to the perception speed of the part of the body (i.e. of the joint(s) and/or limb(s) belonging to the part of the body).
  • the displacement of the force-feedback device (and the associated movement of the part of the body) is not perceived by the user as the speed value is less than the perception speed of the part of the body (i.e. of the joint(s) and/or limb(s) belonging to the part of the body).
  • the parameter(s) used for controlling the displacement of the force-feedback device is controlled and modified if necessary according to the comparison result. If according to the comparison the displacement is determined as not perceived by the user whereas it should be, then the parameter(s) is (are) modified as to amplify the displacement to make the displacement felt by the user. To that aim, the final position of the displacement may be modified as to increase the amplitude of the displacement or the speed and/or the acceleration of the displacement is increased for example.
  • the parameter(s) is (are) modified as to reduce the amplitude and/or the speed and/or the acceleration of the displacement to make the displacement not felt by the user. If the result of the comparison is in line with the perception the user should have of the displacement, then the parameter(s) is (area) let unchanged.
  • Steps 61, 62 and 63 are advantageously reiterated for each force-feedback device and for each haptic effect and/or washout to be performed via the motion simulator comprising the force-feedback devices.
  • the invention is not limited to a method for controlling a motion simulator but also extends to any device implementing this method and notably any devices comprising at least one CPU and/or at least one GPU.
  • the implementation of calculations necessary to the implementation of the method's steps is not limited either to an implementation in shader type microprograms but also extends to an implementation in any program type, for example programs that can be executed by a CPU type microprocessor.
  • the invention also relates to a method (and a device configured) for performing a washout and/or for determining whether a movement or displacement is perceived by a user.
  • the invention further relates to a method and device for generating haptic effects.
  • the implementations described herein may be implemented in, for example, a method or a process, an apparatus, a software program, a data stream, or a signal. Even if only discussed in the context of a single form of implementation (for example, discussed only as a method or a device), the implementation of features discussed may also be implemented in other forms (for example a program).
  • An apparatus may be implemented in, for example, appropriate hardware, software, and firmware.
  • the methods may be implemented in, for example, an apparatus such as, for example, a processor, which refers to processing devices in general, including, for example, a computer, a microprocessor, an integrated circuit, or a programmable logic device. Processors also include communication devices, such as, for example, Smartphones, tablets, computers, mobile phones, portable/personal digital assistants ("PDAs”), and other devices that facilitate communication of information between end-users.
  • PDAs portable/personal digital assistants
  • Implementations of the various processes and features described herein may be embodied in a variety of different equipment or applications, particularly, for example, equipment or applications associated with data encoding, data decoding, view generation, texture processing, and other processing of images and related texture information and/or depth information.
  • equipment include an encoder, a decoder, a post-processor processing output from a decoder, a pre-processor providing input to an encoder, a video coder, a video decoder, a video codec, a web server, a set-top box, a laptop, a personal computer, a cell phone, a PDA, and other communication devices.
  • the equipment may be mobile and even installed in a mobile vehicle.
  • the methods may be implemented by instructions being performed by a processor, and such instructions (and/or data values produced by an implementation) may be stored on a processor-readable medium such as, for example, an integrated circuit, a software carrier or other storage device such as, for example, a hard disk, a compact diskette (“CD"), an optical disc (such as, for example, a DVD, often referred to as a digital versatile disc or a digital video disc), a random access memory (“RAM”), or a read-only memory (“ROM”).
  • the instructions may form an application program tangibly embodied on a processor-readable medium. Instructions may be, for example, in hardware, firmware, software, or a combination.
  • a processor may be characterized, therefore, as, for example, both a device configured to carry out a process and a device that includes a processor-readable medium (such as a storage device) having instructions for carrying out a process. Further, a processor-readable medium may store, in addition to or in lieu of instructions, data values produced by an implementation.
  • implementations may produce a variety of signals formatted to carry information that may be, for example, stored or transmitted.
  • the information may include, for example, instructions for performing a method, or data produced by one of the described implementations.
  • a signal may be formatted to carry as data the rules for writing or reading the syntax of a described embodiment, or to carry as data the actual syntax-values written by a described embodiment.
  • Such a signal may be formatted, for example, as an electromagnetic wave (for example, using a radio frequency portion of spectrum) or as a baseband signal.
  • the formatting may include, for example, encoding a data stream and modulating a carrier with the encoded data stream.
  • the information that the signal carries may be, for example, analog or digital information.
  • the signal may be transmitted over a variety of different wired or wireless links, as is known.
  • the signal may be stored on a processor-readable medium.
  • the present invention may be used in theatres, at home, in automobile or aircraft simulators, theme park attractions, ...
  • the device 5 described with respect to figure 5 is advantageously equipped with interaction means such as a keyboard a mouse, a joystick or any other modes for introduction of commands, vocal recognition being for instance also possible.

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EP13306327.1A EP2854120A1 (fr) 2013-09-26 2013-09-26 Procédé et dispositif pour commander un dispositif haptique
PCT/EP2014/070618 WO2015044344A1 (fr) 2013-09-26 2014-09-26 Procédé et dispositif de commande d'un dispositif haptique
KR1020167008076A KR20160063335A (ko) 2013-09-26 2014-09-26 햅틱 디바이스를 제어하기 위한 방법 및 장치
CN201480052940.3A CN105580063A (zh) 2013-09-26 2014-09-26 控制触觉设备的方法和设备
BR112016006379A BR112016006379A2 (pt) 2013-09-26 2014-09-26 método e dispositivo para controlar um dispositivo háptico
JP2016516895A JP2016534378A (ja) 2013-09-26 2014-09-26 ハプティックデバイスを制御する方法及びデバイス
US15/025,268 US9821236B2 (en) 2013-09-26 2014-09-26 Method and device for controlling a haptic device
EP14776655.4A EP3050046B1 (fr) 2013-09-26 2014-09-26 Procédé et dispositif pour commander un dispositif haptique

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EP3050046A1 (fr) 2016-08-03
US20160236101A1 (en) 2016-08-18
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CN105580063A (zh) 2016-05-11
JP2016534378A (ja) 2016-11-04
WO2015044344A1 (fr) 2015-04-02
BR112016006379A2 (pt) 2017-08-01
US9821236B2 (en) 2017-11-21

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